Real-time vision-based control of industrial manipulators for layer-width setting in concrete 3D printing applications
In this paper, to have control over geometry specifications of rectangular bar-shaped layers in a robotic concrete 3D printing process, a real-time vision-based control framework is developed and proposed. The proposed control system is able to set the layer-width by automatically adjusting the velo...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Elsevier
2022-11-01
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| Series: | Advances in Industrial and Manufacturing Engineering |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S2666912922000228 |
| _version_ | 1818010864961191936 |
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| author | E. Shojaei Barjuei E. Courteille D. Rangeard F. Marie A. Perrot |
| author_facet | E. Shojaei Barjuei E. Courteille D. Rangeard F. Marie A. Perrot |
| author_sort | E. Shojaei Barjuei |
| collection | DOAJ |
| description | In this paper, to have control over geometry specifications of rectangular bar-shaped layers in a robotic concrete 3D printing process, a real-time vision-based control framework is developed and proposed. The proposed control system is able to set the layer-width by automatically adjusting the velocity of an industrial manipulator during the 3D printing process of concrete based materials relying on a vision system feedback. Initially, details related to the control system, vision and processing units, and robotic platform are discussed. In continue, technical descriptions related to the printhead design, conversion process from a digital 3D drawing model to numerical motion control commands of an industrial manipulator and building material used in this work are reported. The reliability and responsiveness of the developed system is then evaluated through experimental tests by printing several single bar-shaped layers with different wideness by means of an unique printhead geometry and also by printing two layers with the same dimension centrally above another. Overall, the high accuracy and responsiveness of the developed system demonstrate a great potential for real-time vision-based control of industrial manipulators for layer-width setting in concrete 3D printing applications. |
| first_indexed | 2024-04-14T06:00:54Z |
| format | Article |
| id | doaj.art-6a6af1c1c47e4dc3a49f1742e7b67ad6 |
| institution | Directory Open Access Journal |
| issn | 2666-9129 |
| language | English |
| last_indexed | 2024-04-14T06:00:54Z |
| publishDate | 2022-11-01 |
| publisher | Elsevier |
| record_format | Article |
| series | Advances in Industrial and Manufacturing Engineering |
| spelling | doaj.art-6a6af1c1c47e4dc3a49f1742e7b67ad62022-12-22T02:08:46ZengElsevierAdvances in Industrial and Manufacturing Engineering2666-91292022-11-015100094Real-time vision-based control of industrial manipulators for layer-width setting in concrete 3D printing applicationsE. Shojaei Barjuei0E. Courteille1D. Rangeard2F. Marie3A. Perrot4University of Rennes, INSA Rennes, LGCGM, 35043 Rennes Cedex, France; Corresponding author.University of Rennes, INSA Rennes, LGCGM, 35043 Rennes Cedex, FranceUniversity of Rennes, INSA Rennes, LGCGM, 35043 Rennes Cedex, FranceUniversity of Rennes, INSA Rennes, LGCGM, 35043 Rennes Cedex, FranceUniv. Bretagne-Sud, UMR CNRS 6027, IRDL, F-56100, Lorient, FranceIn this paper, to have control over geometry specifications of rectangular bar-shaped layers in a robotic concrete 3D printing process, a real-time vision-based control framework is developed and proposed. The proposed control system is able to set the layer-width by automatically adjusting the velocity of an industrial manipulator during the 3D printing process of concrete based materials relying on a vision system feedback. Initially, details related to the control system, vision and processing units, and robotic platform are discussed. In continue, technical descriptions related to the printhead design, conversion process from a digital 3D drawing model to numerical motion control commands of an industrial manipulator and building material used in this work are reported. The reliability and responsiveness of the developed system is then evaluated through experimental tests by printing several single bar-shaped layers with different wideness by means of an unique printhead geometry and also by printing two layers with the same dimension centrally above another. Overall, the high accuracy and responsiveness of the developed system demonstrate a great potential for real-time vision-based control of industrial manipulators for layer-width setting in concrete 3D printing applications.http://www.sciencedirect.com/science/article/pii/S2666912922000228Robotic concrete 3D printingExtrusion-based additive manufacturingReal-time vision-based controlEdge detection algorithmLayer-width setting |
| spellingShingle | E. Shojaei Barjuei E. Courteille D. Rangeard F. Marie A. Perrot Real-time vision-based control of industrial manipulators for layer-width setting in concrete 3D printing applications Advances in Industrial and Manufacturing Engineering Robotic concrete 3D printing Extrusion-based additive manufacturing Real-time vision-based control Edge detection algorithm Layer-width setting |
| title | Real-time vision-based control of industrial manipulators for layer-width setting in concrete 3D printing applications |
| title_full | Real-time vision-based control of industrial manipulators for layer-width setting in concrete 3D printing applications |
| title_fullStr | Real-time vision-based control of industrial manipulators for layer-width setting in concrete 3D printing applications |
| title_full_unstemmed | Real-time vision-based control of industrial manipulators for layer-width setting in concrete 3D printing applications |
| title_short | Real-time vision-based control of industrial manipulators for layer-width setting in concrete 3D printing applications |
| title_sort | real time vision based control of industrial manipulators for layer width setting in concrete 3d printing applications |
| topic | Robotic concrete 3D printing Extrusion-based additive manufacturing Real-time vision-based control Edge detection algorithm Layer-width setting |
| url | http://www.sciencedirect.com/science/article/pii/S2666912922000228 |
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